On-line navigation of mobile robot under the existence of dynamically moving multiple obstacles

Motoji Yamamoto, M. Shimada, A. Mohri

Research output: Contribution to conferencePaper

18 Citations (Scopus)

Abstract

This paper proposes an on-line navigation method of mobile robots for collision avoidance with dynamically moving obstacles, where the multiple obstacles always change their velocities. For more applications of mobile robots to real world, the robots are expected to work well in everyday space such that people are walking around. The robot must surely reach desired point even in the dynamical environment where many people (obstacles) are moving. In such situation that the environmental objects are dynamically changing it's position. It is not realistic to have all information of the dynamical environment such as trajectory of human being's motion. To cope with the situation, the robots usually have sensor system to get real time environmental information, and robots should have an ability of sensor-based on-line motion planning for the dynamical environment. The current paper issues the on-line motion planning problem where the workspace has multiple moving obstacles. The proposing motion planner basically uses an idea of Velocity Obstacle. After discussing some problems when applying the idea of Velocity Obstacle to on-line motion planning problem for dynamical environment, a modified method from the original method using the idea is presented. The main point of the modification is for coping with velocity changes of moving obstacles during sensor cycle. The paper also discusses an efficiency of resultant trajectory by the motion planner. Some simulations of on-line motion planning problem where multiple obstacles are changing their velocities are shown.

Original languageEnglish
Pages13-18
Number of pages6
Publication statusPublished - Jan 1 2001
Event2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001) - Fukuoka, Japan
Duration: May 28 2001May 29 2001

Other

Other2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001)
CountryJapan
CityFukuoka
Period5/28/015/29/01

Fingerprint

Mobile robots
Navigation
Motion planning
Robots
Sensors
Trajectories
Collision avoidance

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Yamamoto, M., Shimada, M., & Mohri, A. (2001). On-line navigation of mobile robot under the existence of dynamically moving multiple obstacles. 13-18. Paper presented at 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001), Fukuoka, Japan.

On-line navigation of mobile robot under the existence of dynamically moving multiple obstacles. / Yamamoto, Motoji; Shimada, M.; Mohri, A.

2001. 13-18 Paper presented at 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001), Fukuoka, Japan.

Research output: Contribution to conferencePaper

Yamamoto, M, Shimada, M & Mohri, A 2001, 'On-line navigation of mobile robot under the existence of dynamically moving multiple obstacles' Paper presented at 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001), Fukuoka, Japan, 5/28/01 - 5/29/01, pp. 13-18.
Yamamoto M, Shimada M, Mohri A. On-line navigation of mobile robot under the existence of dynamically moving multiple obstacles. 2001. Paper presented at 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001), Fukuoka, Japan.
Yamamoto, Motoji ; Shimada, M. ; Mohri, A. / On-line navigation of mobile robot under the existence of dynamically moving multiple obstacles. Paper presented at 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001), Fukuoka, Japan.6 p.
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